Methods, systems and devices for three dimensional input and control methods and systems based thereon
AssigneeTitan Medical Inc.
InventorJohn Unsworth
Life of this patent
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Abstract
A Robotic control system has a wand, which emits multiple narrow beams of light, which fall on a light sensor array, or with a camera, a surface, defining the wand's changing position and attitude which a computer uses to direct relative motion of robotic tools or remote processes, such as those that are controlled by a mouse, but in three dimensions and motion compensation means and means for reducing latency.
Claims24
A method of three dimensional input to control a remote process, the method comprising the steps of:
- actively generating an image pattern from an emitter disposed on an operator instrument, the emitter configured to emit light to generate the image pattern projected on a surface of an object;
- detecting the image pattern on the surface of the object using a detector;
- determining, at a processor, a pose of the operator instrument based on the image pattern;
- and
- moving a tool of the remote process in response to a change in the pose of the operator instrument, wherein the tool comprises at least one of:
- forceps, a tool camera, a scalpel, a wrench, a clamp, and an actuator.
A method of three dimensional input to control a remote process, the method comprising the steps of:
- actively displaying on a surface of an object an image of a remote process using a projector, the remote process controlled in accordance with parameters of the pose of a operator instrument spaced away from the object;
- detecting an image pattern on the surface of the object using a detector, wherein the image pattern is actively generated from an emitter disposed on the operator instrument, the emitter configured to emit light to generate;
- determining, at a processor, parameters a pose of the operator instrument based on the image pattern;
- and
- controlling a tool of the remote process with a tool controller using a change in the determined parameters of the pose of the operator instrument, wherein the tool comprises at least one of:
- forceps, a tool camera, a scalpel, a wrench, a clamp, and an actuator.
An input interface for receiving three dimensional input to control a remote process, the input interface comprising:
- an operator instrument;
- a pattern generator disposed on the operator instrument, the pattern generator for actively emitting light to generate an image pattern on a surface of an object;
- a detector for detecting the image pattern on the surface of the object;
- and
- a computer for determining a pose of the operator instrument based on the image pattern from the detector, and the computer for moving a tool of the remote process in response to a change in the pose of the operator instrument, wherein the tool comprises at least one of:
- forceps, a tool camera, a scalpel, a wrench, a clamp, and an actuator.
Dependencies are inferred from the claim text.